Control device, robot system, robot control method, and robot control program

Abstract

A controller 3 includes: a force controller 36 that performs force control of moving a robot 1 in accordance with an operation force exerted on an operator 2 from a user U to apply a treatment to an object W and of moving the operator 2 in accordance with a reaction force exerted on the robot 1 from the object W; an estimator 37 that estimates a dynamic characteristic of the user U; and an adjuster 310 that adjusts a control parameter of the force control in accordance with the estimated dynamic characteristic of the user such that a frequency characteristic of the force control approaches a target frequency characteristic.

1 . A controller comprising a processor configured to perform operations comprising:
 operation as a force controller that performs force control comprising moving a slave in accordance with an operation force exerted on a master from a user to apply a treatment to an object and of moving the master in accordance with a reaction force exerted on the slave from the object;   operation as an estimator that estimates a dynamic characteristic of the user; and   operation as an adjuster that adjusts a control parameter of the force control in accordance with the estimated dynamic characteristic of the user such that the frequency characteristic of the force control approaches a target frequency characteristic.   
     
     
         2 . The controller according to  claim 1 , wherein
 operation as the estimator comprises estimating a dynamic characteristic of the master, and   operation as the adjuster comprises adjusting the control parameter in accordance with the estimated dynamic characteristic of the user and the estimated dynamic characteristic of the master such that the frequency characteristic approaches the target frequency characteristic.   
     
     
         3 . The controller according to  claim 1 , wherein
 operation as the estimator comprises estimating a dynamic characteristic of the object, and   operation as the adjuster comprises adjusting the control parameter in accordance with the estimated dynamic characteristic of the user and the estimated dynamic characteristic of the object such that the frequency characteristic approaches the target frequency characteristic.   
     
     
         4 . The controller according to  claim 3 , wherein
 operation as the adjuster comprises generating a first control parameter and a second control parameter, the first control parameter being the control parameter adjusted in accordance with the dynamic characteristic of the user, the second control parameter being the control parameter adjusted in accordance with the dynamic characteristic of the object, and   operation as the force controller comprises performing the force control by using the first control parameter and the second control parameter selectively.   
     
     
         5 . The controller according to  claim 4 , wherein
 operation as the force controller comprises performing the force control by using the second control parameter while the slave is in contact with the object, and performing the force control by using the first control parameter while the slave is not in contact with the object.   
     
     
         6 . The controller according to  claim 4 , wherein
 operation as the estimator comprises estimating a dynamic characteristic of the slave, and   operation as the adjuster comprises generating the second control parameter in accordance with the estimated dynamic characteristic of the object and the estimated dynamic characteristic of the slave such that the frequency characteristic approaches the target frequency characteristic.   
     
     
         7 . The controller according to  claim 1 , wherein the processor is configured to perform operations further comprising
 operation as a setter that receives an input of the target frequency characteristic and sets the target frequency characteristic.   
     
     
         8 . The controller according to  claim 1 , wherein the processor is configured to perform operations further comprising
 operation as a presenter that obtains a frequency characteristic of the force control and presents the obtained frequency characteristic.   
     
     
         9 . A robot system comprising:
 the controller according to  claim 1 ;   the master that is operated by the user; and   the slave that applies a treatment to the object.   
     
     
         10 . A robot control method comprising:
 performing force control comprising moving a slave in accordance with an operation force exerted on a master from a user to apply a treatment to an object and of moving the master in accordance with a reaction force exerted on the slave from the object;   estimating a dynamic characteristic of the user; and   adjusting a control parameter of the force control in accordance with the estimated dynamic characteristic of the user such that the frequency characteristic of the force control approaches a target frequency characteristic.   
     
     
         11 . A non-transitory computer readable medium storing a robot control program for controlling a robot system, the robot system including a master on which an operation force is exerted from a user and a slave that applies a treatment to an object, the robot control program, which when read and executed, causes the computer to perform operations comprising:
 performing force control comprising moving the slave in accordance with the operation force exerted on the master to apply the treatment to the object and of moving the master in accordance with a reaction force exerted on the slave from the object;   estimating a dynamic characteristic of the user; and   adjusting a control parameter of the force control in accordance with the estimated dynamic characteristic of the user such that a frequency characteristic of the force control approaches a target frequency characteristic.